JP7189008B2 - Electric mobility, displays and programs - Google Patents

Description

The present invention relates to electric mobility, display devices, and programs.

2. Description of the Related Art There is known a technique of detecting where a vehicle is traveling on a road and displaying an image corresponding to the detection result (see Patent Document 1, for example). There is also known a technique for displaying the self-position of an electric mobility vehicle on which one person sits and rides on a map (see Patent Document 2, for example).

JP-A-2002-156233 Japanese Patent Application Laid-Open No. 2003-245310

The former technology is for automobiles. An image showing where the vehicle is traveling with respect to the white lines of the road is useful information for the motor vehicle driver. However, electric mobility for one person to ride does not run in a designated lane like a car, but can run freely in areas where it can be driven, such as sidewalks, squares, malls, and buildings. is. For this reason, an image showing where the electric mobility is traveling with respect to the white line is not very useful for the electric mobility driver.

The latter technology displays the self-position of the electric mobility that one person sits on and rides on the map. However, as mentioned above, unlike automobiles, electric mobility vehicles do not run on designated lanes. In addition, there are people and various objects around electric mobility vehicles that can interfere with driving, and they are not moving along the designated lanes. I am moving with For this reason, there are more obstacles to fully automated driving from the point of departure to the destination compared to vehicles that run on designated lanes.

For example, when an electric mobility vehicle is driving automatically from its departure point to its destination, if it enters an area with many obstacles, people, etc., it will stop for safety reasons. Even if automated driving resumes in such a situation, it is highly likely that electric mobility will immediately stop for safety reasons. In such a situation, it is better for the driver to drive the electric mobility manually so that the electric mobility can get out of the area with many obstacles, people, etc. safely and smoothly.

However, various drivers drive electric mobilities. In addition, it is basically difficult to check the safety of the surroundings of electric mobility in a short period of time, and doing this work all the time causes unnecessary fatigue for the driver. On the other hand, electric mobility is provided with sensors for detecting detection targets such as obstacles and people for automatic driving and the like.

The present invention has been made in view of such circumstances, and provides an electric mobility, a display device, and a program that enable the driver to intuitively recognize the surrounding conditions of the electric mobility while reducing the burden on the driver. for the purpose of providing

In order to solve the above problems, the present invention employs the following means.
A first aspect of the present invention is an electric mobility vehicle in which one person sits and rides, a sensor used for detecting one or more detection targets existing around the electric mobility vehicle, and a sensor obtained by using the sensor. and a display device, wherein the display device displays an annular display portion arranged in a substantially annular shape, and the control unit controls display on the display device. For this purpose, the detection result by the sensor is transmitted to the display device, and the display device displays each received detection result in the annular display section.

In this configuration, an annular display section arranged in a substantially annular shape is displayed on the display device. In addition, the display device receives the detection result of each detection target detected in the electric mobility, and displays each received detection result in the annular display section. Therefore, the driver can intuitively grasp the situation of the detection target around the electric mobility, which facilitates manual operation of the electric mobility by the driver.

In the above aspect, preferably, the detection result transmitted by the control unit to the display device includes at least one of a distance to the detection target, a moving speed of each detection target, and a moving direction of each detection target. and the display device changes the display of each detection result according to at least one of the distance, the moving speed, and the moving direction.
When this configuration is adopted, the driver can more intuitively grasp the detection target and the situation around the electric mobility.

In the above aspect, preferably some wheels of the electric mobility are omnidirectional wheels or casters.
In the above aspect, preferably, the detection result includes rotation-related information indicating that the electric mobility cannot or is difficult to rotate in the rightward or leftward direction, and the control unit displays the rotation-related information. device, and the display device performs display based on the received rotation-related information.

In the above aspect, preferably, a diagram showing the electric mobility is displayed or provided inside the annular display portion in the radial direction thereof.
By adopting this configuration, it is possible to more intuitively grasp the position of the detection target with respect to the electric mobility.

In the above aspect, preferably, each of the detection results is at a position at a predetermined distance from the center of the arrangement of the annular display portion or at a position at a predetermined distance from the center of the annular display portion in the width direction, It is displayed at a position corresponding to the direction of each detection target viewed from mobility.

By adopting this configuration, any driver can easily grasp the situation of the object to be detected around the electric mobility. For example, it is possible to display each detection target according to the distance from the electric mobility. However, the inclusion of distance information makes it difficult for some drivers to intuitively grasp the situation of the detection target. Therefore, the above configuration is advantageous in that many drivers can easily grasp the detection target.

In the above aspect, preferably, the annular display portion is a strip-shaped display portion extending in the circumferential direction, and each detection in the strip-shaped display portion is controlled according to the distance to each detection target detected using the sensor. The position where the result is displayed changes in the width direction of the band-shaped display section.
Even in this case, each detection result is displayed in the band-shaped display section of the annular display section, so that the driver can intuitively grasp the situation of the detection target around the electric mobility.

In the above aspect, preferably, the annular display section comprises a plurality of divided display sections arranged in a circumferential direction, and each of the detection results is displayed on a corresponding one or more of the plurality of divided display sections. .
Even in this case, each detection result is displayed in the annular area of the annular display unit, so that the driver can intuitively grasp the situation of the detection target around the electric mobility.

In the above aspect, preferably, the display size, area, color, brightness, or saturation of each of the detection results on the display device is the distance to each detection target detected using the sensor, the It changes according to at least one of the moving speed of each detection target and the moving direction of each detection target.
When this configuration is adopted, the driver can more specifically know the situation of the object to be detected around the electric mobility.

In the above aspect, preferably, the display device sequentially receives evaluation information of each detection target based on at least one of the distance, the moving speed, and the moving direction from the control unit, and according to the received evaluation information and sequentially changing the display of each of the detection results, if the difference between the current evaluation information received for each detection target and the previous evaluation information is equal to or greater than a predetermined level, the display corresponding to the current evaluation information and the display corresponding to the previous evaluation information.

The evaluation information includes, for example, information indicating whether each detection target is an avoidance target or an avoidance preparation target. Also, the evaluation information may be an evaluation score of each detection target. For example, the evaluation score increases when the distance to the detection target is short, when the movement of the detection target is fast, and when the movement direction of the detection target is a direction approaching the electric mobility.

If each detection result is displayed faithfully according to the evaluation information, the display on the annular display may continue to change rapidly. In order to alleviate such a situation, the display device displays the current evaluation information and the previous evaluation information when the difference between the current evaluation information and the previous evaluation information received for each detection target is equal to or greater than a predetermined level. An interpolation display, which is a display between the display corresponding to the evaluation information, may be performed.

In the above aspect, preferably, the annular display portion is a strip-shaped display portion extending in the circumferential direction, and the display device displays each of the detection results in the strip-shaped display portion when the distance to the detection target is equal to or less than a predetermined value. A figure having dimensions substantially corresponding to the width of the display portion is displayed.
Such a display helps the driver intuitively recognize the existence of the detection target.

In the above aspect, preferably, the electric mobility is capable of rotating about a vertical axis, and the display device displays the detection result displayed on the annular display unit when the electric mobility rotates. It rotates around the center of the arrangement by the rotation.
This configuration is advantageous for intuitively grasping the situation of the detection target around the electric mobility when the electric mobility rotates to change the traveling direction.

In the above aspect, preferably, the control unit can identify a specific target among the detection targets, and the display device displays the specific target and another display of the detection target. make different.
This configuration contributes to a more specific grasp of the situation of the detection target around the electric mobility.

In the above aspect, preferably, the control unit can identify a specific target among the detection targets, the control unit transmits a detection result of the specific target to the display device, and the display device and causing the annular display portion to display the detection result of the specific target.
This configuration contributes to a more specific grasp of the situation of the detection target around the electric mobility.

In the aspect, preferably, the electric mobility has a function of automatically stopping based on the detection result obtained by using the sensor, and the display device, when the automatic stopping is performed, A direction display for avoiding the detection target and moving the electric mobility is provided in the vicinity of or in the annular display section.
This configuration is advantageous for facilitating manual operation for avoiding detection targets.

The electric mobility of the aspect may include a rearview camera, and the display device may display an image captured by the rearview camera on the annular display section.
With this configuration, even a driver who cannot see behind the electric mobility can easily and reliably grasp the situation behind the electric mobility.

A second aspect of the present invention is electric mobility for one person to sit on and ride, comprising a control unit for estimating the self-position of the electric mobility, and a display device, wherein the display device is arranged in a substantially annular shape. A surrounding information display unit is arranged, and the display device exists around the self-position based on the estimation result of the self-position and map data around the estimated self-position. At least one of store information and facility information is displayed in the peripheral information display section.
With this configuration, the driver can easily recognize the types of shops and facilities that exist in the surroundings and the directions thereof.

In the second aspect, preferably, the peripheral information display section is arranged concentrically with the annular display section.
With this configuration, the visibility of the annular display section and the peripheral information display section by the driver and the ease of recognizing the information displayed on these display sections are improved.

In the second aspect, preferably, the control section sets a route using the map data, and the display device displays the direction of travel according to the set route on the peripheral information display section. to display.
With this configuration, the driver can intuitively grasp the direction to go.
In the second aspect, preferably, the display device displays the store information and the facility information when the traveling speed of the electric mobility is equal to or less than a predetermined value.

In the second aspect, preferably, the display device displays the peripheral information display section when display of the store information and the facility information is required.
When this configuration is adopted, the display of the peripheral information display section serves as a sign for the driver that there are some shops or facilities in the vicinity.

In the second aspect, preferably, the display device displays the annular display portion only when displaying the detection result of the detection target that hinders the running of the electric mobility.
When this configuration is adopted, for the driver, the display of the annular display portion is a sign that there is some detection target in the surroundings.

In the second aspect, preferably, the display device is capable of switching display or non-display of each of the annular display section and the peripheral information display section.
With this configuration, it is possible to easily and effectively change the information displayed on the display according to the driver's request.

A third aspect of the present invention is a display device that receives a detection result of a detection target existing around the electric mobility from an electric mobility that one person sits on and displays the received detection result, comprising: a display; a display control unit for controlling display on the display, the display control unit performing processing for displaying on the display an annular display portion arranged in a substantially annular shape; and a process of displaying in the display unit.

A fourth aspect of the present invention is to receive an estimation result of the self-position of the electric mobility from the electric mobility that one person sits and ride, and combine the received estimation result with the map data around the estimated self-position. A display device for displaying at least one of store information and facility information based on the A process of displaying a peripheral information display section on the display and a process of displaying at least one of the store information and the facility information in the peripheral information display section are performed.

A fifth aspect of the present invention is a program for controlling a display device, wherein the display control unit of the display device controls the detection target existing around the electric mobility from the electric mobility that one person sits on. A process of receiving a detection result, a process of displaying an annular display portion arranged in a substantially annular shape on the display of the display device, and a process of displaying each of the received detection results in the annular display portion are executed.

A sixth aspect of the present invention is a program for controlling a display device, comprising a process of receiving an estimation result of the self-position of an electric mobility vehicle from which one person sits and rides; and displaying at least one of store information and facility information based on the received estimation result and the estimated map data around the self-position in the surrounding information display unit. to perform a process to

ADVANTAGE OF THE INVENTION According to this invention, a driver|operator can intuitively recognize the surrounding conditions of electric mobility, reducing a driver|operator's burden.

1 is a front perspective view of an electric mobility according to an embodiment of the invention; FIG. It is a rear perspective view of the electric mobility of this embodiment. It is a top view of electric mobility of this embodiment. It is a bottom view of the mobility main part of the state which removed some components of the electric mobility of this embodiment. It is a block diagram of the control unit of the electric mobility of this embodiment. It is a figure which shows an example of the detection result of the detection target of the electric mobility of this embodiment. 1 is a block diagram of a display device for electric mobility according to the present embodiment; FIG. It is an example of the display of the display device of the electric mobility of the present embodiment. It is an example of the display of the display device of the electric mobility of the present embodiment. It is an example of the display of the display device of the electric mobility of the present embodiment. It is an example of the display of the display device of the electric mobility of the present embodiment. It is an example of the display of the display device of the electric mobility of the present embodiment. It is an example of the display of the display device of the electric mobility of the present embodiment. It is an example of the display of the display device of the electric mobility of the present embodiment. It is an example of the display of the display device of the electric mobility of the present embodiment. It is an example of the display of the display device of the electric mobility of the present embodiment. It is a principal part perspective view of the electric mobility of this embodiment.

An electric mobility according to one embodiment of the present invention is described below using the drawings.
As shown in FIGS. 1 to 4, this electric mobility has a pair of front wheels 10, a pair of rear wheels 20, and a mobility body 30 supported by the front wheels (wheels) 10 and the rear wheels (wheels) 20. Prepare. The mobility body 30 includes, for example, a body 31 supported by the front wheels 10 and the rear wheels 20, a seat unit 40 attached to the body 31, and at least one of the pair of front wheels 10 and the pair of rear wheels 20. and a motor 50 . In this embodiment, the motor 50 is attached to the body 31 and the seat unit 40 is removable from the body 31 . The electric mobility is one in which one person sits on the seat unit 40 and rides.

The vehicle front-rear direction shown in FIGS. 3 and 4 may be described as the front-rear direction in the following description, and the vehicle width direction illustrated in FIGS. 3 and 4 may be described as the width direction or the left-right direction in the following description. There is Note that the vehicle front-rear direction and the front-rear direction of the mobility body 30 match, and the vehicle width direction and the width direction of the mobility body 30 match. In this embodiment, the radial centers of the pair of front wheels 10 are aligned in the vehicle width direction, the radial centers of the pair of rear wheels 20 are also aligned in the vehicle width direction, and the vehicle front-rear direction is the vehicle width direction. are orthogonal.

In this embodiment, the pair of rear wheels 20 are each connected to a motor 50 and each motor 50 drives the corresponding rear wheel 20 . The driving force of each motor 50 may be transmitted to the corresponding front wheel 10 by power transmission means. A power transmission member is a belt, a gear, or the like.

Each front wheel 10 has a hub 14 attached to an axle 11 and a plurality of roller support shafts (not shown) supported by the hub 14. A plurality of rollers 13 are rotatably supported on the roller support shafts. ing. Hub 14 may be attached to axle 11 using a bearing or the like, or hub 14 may be attached to axle 11 using a buffer member, an intermediate member, or the like. The axis of each roller support shaft extends in a direction crossing the radial direction of the axle 11 .

Each roller 13 rotates around the axis of the corresponding roller support shaft. That is, each front wheel 10 is an omnidirectional wheel that moves in all directions with respect to the running surface.
The outer peripheral surface of each roller 13 is formed using a material having rubber-like elasticity, and the outer peripheral surface of each roller 13 is provided with a plurality of grooves extending in its circumferential direction.

In this embodiment, each rear wheel 20 includes an axle (not shown), a hub 21 attached to the axle, and an outer periphery provided on the outer peripheral side of the hub 21, the outer peripheral surface of which is formed using a material having rubber-like elasticity. 22, but like the front wheels 10, omni-directional wheels may also be used. In this case, the front wheels 10 are normal wheels instead of omnidirectional wheels. The axle of the rear wheel 20 may be common to the main axle of the motor 50 .

The structure of the body 31 can be changed as appropriate. This embodiment has a base portion 32 extending along the ground and a seat support portion 33 extending upward from the rear end side of the base portion 32 . The seat support portion 33 is inclined forward of the vehicle, and the seat unit 40 is attached to the upper end side of the seat support portion 33 .
The base portion 32 of this embodiment has a plastic cover portion 32b that at least partially covers the base frame 32a. The cover portion 32b is used as a portion on which the feet of the driver sitting on the seat unit 40 are placed, a portion on which luggage is placed, and the like.

In this embodiment, the seat unit 40 has a shaft 40a at its lower portion, and the shaft 40a is attached to the upper end side of the seat support portion 33. As shown in FIG. A rechargeable battery BA is attached to the back surface of the seat support portion 33, and a control unit 60, which will be described later, is arranged inside the seat support portion 33. As shown in FIG.
The seat unit 40 has a seat surface portion 41 on which the driver sits, a backrest portion 42 , a right control arm 43 and a left control arm 43 .

An armrest 43 a is fixed to the upper surface of each control arm 43 . For example, the driver places both arms on the armrests 43a of the pair of control arms 43 respectively. Also, the driver puts both hands on the upper ends of the pair of control arms 43 respectively. Although both the control arm 43 and the armrest 43a are provided in this embodiment, only the control arm 43 or the armrest 43a may be provided. In this case, the driver places at least one of the arm and hand on the control arm 43, or places at least one of the arm and hand on the armrest 43a.

An operating portion 44 having an operating lever 44a is provided at the upper end of the right control arm 43. As shown in FIG. When no force is applied, the operating lever 44a is placed in a neutral position by a biasing member (not shown) located within the operating portion 44. As shown in FIG. With the right hand, the driver can displace the operating lever 44a rightward, leftward, forward, and backward with respect to the neutral position.

A signal corresponding to the direction and amount of displacement of the operating lever 44a is transmitted from the operating section 44 to the control unit 60, which will be described later, and the control unit 60 controls each motor 50 according to the received signal. For example, when the operating lever 44a is displaced forward with respect to the neutral position, a signal is transmitted to rotate each motor 50 forward of the vehicle. As a result, the electric mobility moves forward at a speed corresponding to the amount of displacement of the control lever 44a. Further, when the operation lever 44a is displaced obliquely forward left with respect to the neutral position, a signal is transmitted to rotate the left motor 50 toward the front of the vehicle at a slower speed than the right motor 50. As a result, the electric mobility moves forward while turning to the left at a speed corresponding to the amount of displacement of the operation lever 44a.

At the upper end of the left control arm 43, a setting section 45 for making various settings related to electric mobility is provided. Examples of various settings include maximum speed settings, driving mode settings, and electric mobility lock settings. The setting unit 45 is provided with a plurality of operation buttons, a display device, and the like. Examples of driving modes include an energy-saving driving mode that reduces power consumption, a sports driving mode that emphasizes driving performance without reducing power consumption, and a normal driving mode between the energy-saving driving mode and the sports driving mode. .

The control unit 60 has a motor driver 70 for driving each motor 50 and a control device 80, as shown in FIG.
Motor driver 70 is connected to battery BA. The motor driver 70 is also connected to each motor 50 and supplies drive power to each motor 50 .

As shown in FIG. 5, the control device 80 includes a control unit 81 having a CPU, a RAM, etc., a storage device 82 having a non-volatile memory, a ROM, etc., and a transmitting/receiving unit 83 for transmitting/receiving information by wireless communication and wired communication. and A storage device 82 stores a travel control program 82a for controlling the electric mobility. The control unit 81 operates based on a running control program 82a. The control unit 81 transmits drive signals for driving the motors 50 to the motor driver 70 based on signals from the operation unit 44 and the setting unit 45 .

Stereo cameras (sensors) 90, which are two visual sensors, are attached to the upper end side of the right control arm 43 and the upper end side of the left control arm 43, respectively. Each stereo camera 90 has a pair of lens units 91 and a camera body 92 that supports the pair of lens units 91 . A pair of imaging elements 93 (FIG. 5) are provided inside the camera body 92, and the pair of imaging elements 93 correspond to the pair of lens units 91, respectively. Each imaging element 93 is a well-known sensor such as a CMOS sensor. Each imaging element 93 is connected to the control device 80 . As shown in FIG. 3 , the detection range DA1 of each stereo camera 90 is the front of the electric mobility and the outside of the front wheels 10 in the width direction.

Each stereo camera 90 obtains two images with parallax by a pair of imaging elements 93 . Two images with parallax are sometimes referred to as parallax images in the discussion below. The control unit 81 of the control device 80 operates based on an avoidance control program 82b and an automatic driving program 82c stored in the storage device 82. FIG. That is, the control unit 81 processes the parallax image to create a distance image. Then, the control unit 81 detects a detection target that the electric mobility may come into contact with in the distance image. Objects to be detected are, for example, obstacles, people, animals, and plants. Obstacles are, for example, walls, large stones, steps, and the like. In another example, the control unit 81 detects detection targets such as steps, holes, grooves, etc. in which the front wheel 10 may fall or get stuck in the distance image. The control unit 81 performs known self-position estimation using the detection results of GPS, odometer, etc. provided in the electric mobility. In addition, the control unit 81 uses the detected detection target, the map data stored in the storage device 82, and the result of the self-position estimation to set a route from the departure point to the destination and perform automatic driving, for example. It can be carried out.

As another sensor, for example, a known LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) 100 may be further provided on the underside of the seat unit 40 . In this embodiment, the LiDAR 100 scans the laser light over the detection range DA2 in FIG. 3, and the LiDAR 100 detects the laser light that bounces off the object, thereby detecting the detection range DA2 that is outside and behind the electric mobility in the width direction. Target is detected. Objects to be detected are, for example, obstacles, people, animals, and plants. Obstacles are, for example, walls, large stones, steps, and the like. In another example, the LiDAR 100 may detect detection targets such as steps, holes, grooves, etc. where the rear wheel 20 may fall or get stuck.

In addition, other stereo cameras (sensors) may be provided for detecting detection targets behind and on the sides of the electric mobility, and other sensors such as known radar and millimeter wave sensors that can detect detection targets are provided. may be Further, in place of the stereo camera 90, another sensor such as a LiDAR, a radar, or a millimeter wave sensor may be provided in order to detect detection targets on the outside and in front of the front wheels 10 of the electric mobility.

Then, the control unit 81 controls each motor 50 with a control command for an avoidance operation when a detection target that the electric mobility may come into contact with is detected, for example, in predetermined ranges in the detection ranges DA1 and DA2. In another example, the control unit 81 activates the notification device when, for example, a detection target with which the electric mobility is likely to come into contact with predetermined ranges in the detection ranges DA1 and DA2 is detected. Further, the control unit 81 controls each motor 50 by a control command for an avoidance operation, for example, when detecting a detection target in which the front wheel 10 may drop or get stuck in a predetermined range in the detection ranges DA1 and DA2. . In another example, the control unit 81 activates the notification device when detecting a detection target that the front wheels 10 are likely to drop or get stuck in, for example, a predetermined range in the detection ranges DA1 and DA2. Examples of the avoidance operation include reducing or stopping the rotational speed of each motor 50 to avoid the avoidance target, controlling each motor to limit the movement of the electric mobility to the avoidance target side, and the like. The avoidance target is a target that has a high possibility of becoming an obstacle to the traveling of the electric mobility.

FIG. 6 shows examples of detection targets detected in the detection range DA1 and the detection range DA2. In FIG. 6, there is a wall on the left front of the electric mobility, and a passerby A exists on the left side of the electric mobility. They are arranged in a range AR1 which is a first distance or less from, for example, the center of the electric mobility. Pedestrians B and C are present in front of the electric mobility on the right side, and a pillar is present on the right side of the electric mobility. They are arranged in a range AR2 that is less than or equal to a second distance, which is greater than the first distance, for example from the center of the electric mobility.

The control unit 81 of the electric mobility recognizes the detection target arranged in the range AR1 as an avoidance target, and recognizes the detection target arranged in the range AR2 as an avoidance preparation target. The avoidance target is a target that should immediately start any of the above avoidance actions. The control unit 81 does not immediately start any of the avoidance actions for the avoidance preparation target, and recognizes that it may become the avoidance target.

In this embodiment, the control unit 81 considers the moving direction and moving speed of the passers-by B and C, and recognizes the passers-by B and C within the range AR2 as objects to be avoided. Specifically, when the movement direction of passers-by B and C is the direction toward the electric mobility, and the movement speed thereof is equal to or higher than a predetermined value, the detection targets within range AR2 are recognized as avoidance targets.
It should be noted that it is possible to classify each detection target into an avoidance target, an avoidance preparation target that is less likely to impede the running of the electric mobility than the avoidance target, and other targets using other criteria.

A display device 200 is attached to the electric mobility. In this embodiment, as shown in FIG. 17 , a cover member 96 of the stereo camera 90 is attached to the upper end of the left control arm 43 and fixed to the upper end surface of the left control arm 43 or the upper end surface of the cover member 96 . A display device 200 is attached via a member 210 . The display device 200 is, for example, a tablet computer, and the display of the display 222 of the display device 200 is controlled by the display control unit 221 of the display device 200 .

In one example, the display device 200 is supported by the control arm 43 via a fixing member 210 as shown in FIG. 17 . The fixing member 210 is fixed to the control arm 43 or the cover member 96 of the stereo camera 90 , and the display device 200 is detachably attached to the fixing member 210 . The display device 200 may be supported by other parts of the electric mobility such as the armrest 43a, and the display device 200 may be held by the driver.

As shown in FIG. 7, the display device 200 includes a display control unit 221 which is a processor such as a CPU, a display 222 such as a liquid crystal display, a storage unit 223, a touch display type input device 224, wireless communication and A transmitting/receiving unit 225 for transmitting/receiving information by wired communication is provided.
The storage unit 223 stores a detection status display program 223a. An example of processing of the display control unit 221 based on the detection status display program 223a will be described below.

As a first example, the display control unit 221 causes the display 222 to display an annular display portion 231 as shown in FIG. In the first example, the annular display portion 231 is a belt-shaped display portion extending in the circumferential direction about the arrangement center P of the annular display portion 231 . Further, as shown in FIG. 8, the display control unit 221 displays the detection target, which is the avoidance target, in the circular display unit 231 as a graphic 241 of the first size, and displays the detection target, which is the avoidance preparation target, in the circular display unit 231. A figure 242 having a second size smaller than the first size is displayed in the circular display portion 231 . Although the figures 241 and 242 are filled circles in this embodiment, they may be filled ellipses, polygons, bands extending in the circumferential direction, or the like. It can also be a shape that has both a fill and a border. 6, which is the object of detection, the detection results are continuous, so the figure 241 has a strip shape extending in the circumferential direction as shown in FIG.

As shown in FIG. 8, the display control unit 221 places a figure 241 of the first size at a predetermined distance from the arrangement center P, or at a predetermined distance from the center of the circular display unit 231 in the width direction W. display in position. In this embodiment, the display control unit 221 arranges the graphic 241 of the first size at a position 0 mm from the center of the annular display unit 231 in the width direction W. As shown in FIG. Note that even if the display control unit 221 displays the figure 242 of the second size at a predetermined distance from the arrangement center P or at a predetermined distance from the center of the annular display unit 231 in the width direction W, good.

As shown in FIG. 6, the distances from the electric mobility to each detection target are originally different from each other. However, as shown in FIG. 8, the detection result of each detection target is displayed in a strip-shaped annular display portion 231 extending in the circumferential direction. Further, the detection result of each detection target is displayed at a position corresponding to the direction of the detection target as seen from the electric mobility. Information about the direction of each detection target viewed from the electric mobility, attribute information of each detection target such as whether each detection target is an avoidance target or an avoidance preparation target, etc. are transmitted from the control device 80 to the display device 200. .

Since the display is performed on the ring-shaped display portion 231 as described above, the driver can intuitively recognize the range in which the detection target exists, even if the driver does not have specialized knowledge.
In addition, as shown in FIG. 8, the display control unit 221 displays a direction display graphic 250 near the annular display unit 231 for avoiding the detection target and moving the electric mobility. The direction indicator graphic 250 may be displayed within the annular display portion 231 . The driver can turn the electric mobility in the direction indicated by the direction indicator graphic 250 .

For example, when the driver tilts the control lever 44a to the right or left, the electric mobility device rotates around a vertical axis passing through a point several centimeters to ten-odd centimeters in front of the vehicle from the center of the pair of rear wheels 20, for example. At this time, the display control unit 221 rotates the display positions of the graphics 241 and 242 around the arrangement center P by the rotation of the electric mobility, as shown in FIG. It should be noted that even if the front wheels 10 are normal wheels and the rear wheels are omnidirectional wheels, the electric mobility behaves similarly. Furthermore, the electric mobility will behave similarly if the front wheels 10 are casters instead of omnidirectional wheels, or if the front wheels 10 are normal wheels and the rear wheels 20 are casters.

As shown in FIG. 3 , the detection range DA1 of each stereo camera 90 is the front of the electric mobility and the outside of the front wheels 10 in the width direction. Therefore, the control device 80 uses the images of the stereo cameras 90 to obtain rotation-related information indicating that the electric mobility cannot rotate or is difficult to rotate. For example, when the detection target exists outside the right front wheel 10 in the width direction and the distance from the right front wheel 10 to the detection target is equal to or less than the rotation determination distance such as 50 cm, the control device 80 controls the right side of the electric mobility. It determines that the rotation in the direction is impossible or difficult, and transmits the rotation-related information to the display device 200 .

Specifically, when the detection target exists outside the right front wheel 10 in the width direction and the distance from the right front wheel 10 to the detection target is equal to or less than the rotation determination distance, the control device 80 outputs the rotation-related information. Send to the display device 200 . The display device 200 displays in the right area within the annular display portion 231 that the electric mobility cannot rotate to the right. Such a display may be the graphic 241 , the graphic 241 with different colors, or a dedicated graphic different from the graphics 241 and 242 . The display device 200 may display outside the annular display portion 231 that the electric mobility cannot rotate to the right. Thereby, the driver recognizes that the electric mobility cannot be rotated to the right.

In this way, the rotation-related information indicating that the electric mobility cannot or cannot rotate to the left or right is transmitted to the display device 200, and the display device 200 performs display based on the received rotation-related information. Therefore, the driver can obtain information on whether or not he/she can turn on his/her own axis, in addition to forward, backward, right/left turn while forward, and right/left turn while backward.

Note that a sensor other than the stereo camera 90 may detect the detection target on the outside in the width direction of the front wheel 10 . Alternatively, another stereo camera or another sensor may detect a detection target on the outside of the rear wheel 20 in the width direction, and based on the detection result, the control device 80 may determine whether the electric mobility can rotate.

It can be said that the electric mobility is rotating when one of the rear wheels 20 of the electric mobility rolls toward the front of the vehicle and the other rolls toward the rear of the vehicle. In this case, the electric mobility device rotates around the vertical axis near the rear wheel 20 of the electric mobility device instead of the vertical axis, and the vertical axis may move during rotation. Even in this case, when the display device 200 receives the rotation-related information indicating that such rotation cannot or is difficult for electric mobility, and displays based on the received rotation-related information by the display device 200, the same operation as described above is performed. A working effect is obtained.

Also, the driver can tilt the control lever 44a in the direction indicated by the direction indicator graphic 250. FIG. In this case, the electric mobility moves in the direction corresponding to the operation of the control lever 44 a , and thereby the electric mobility is arranged at a position away from the detection target displayed on the annular display portion 231 .

For example, when the electric mobility is placed in a position as shown in FIG. The electric mobility can be manually operated while looking at the display, the direction display graphic 250, and the like.

Electric mobility is expected to be used in a variety of situations, and if there are more avoidance targets and avoidance preparation targets in the surrounding area than in FIG. In this case, the display of the circular display 231 and the direction indicator graphic 250 facilitate manual operation of the electric mobility by the driver.

As shown in FIGS. 8 and 9 , a diagram 260 showing electric mobility may be displayed radially inside the annular display portion 231 . In this case, the driver can more intuitively recognize the relationship between the electric mobility and the detection target.

Other examples are described below. The operation, processing, etc. of the display device 200, the operation of the electric mobility, the circumstances of the electric mobility, the operation, and the like in the other examples below are the same as those in the first example unless otherwise specified.
As a second example, the display control unit 221 displays on the display 222 an annular display unit 232, which is a band-shaped display unit extending in a rectangular shape around the arrangement center P, as shown in FIG. Instead of a quadrangle, it may be a triangle or a polygon with pentagons or more. In a second example, graphics 241 and 242 are strip graphics. Also, in the second example, the colors of the graphic 241 and the graphic 242 are different, which allows them to be distinguished from each other.

Also in the first example, the figure 241 and the figure 242 can be made to have the same size and can be colored differently.
Also, instead of making the colors of the graphics 241 and 242 different, it is also possible to make the brightness or saturation of the graphics 241 and 242 different. Depending on the condition of the eyes, the visibility is better if the brightness or saturation is different than if the colors are different.

As a third example, as shown in FIG. 11, the display control section 221 displays on the display 222 an annular display section 233 composed of a plurality of divided display sections 233a arranged in the circumferential direction around the arrangement center P. In the third example, each of the figures 241 and 242 is displayed in at least one of the plurality of divided display portions 233a, and may be displayed over a plurality of portions. In the example of FIG. 11, instead of the figures 241 and 242, the colors in the divided display section 233a change corresponding to each detection result.
Also in the third example, the brightness or saturation of each divided display section 233a can be changed according to the detection result.

As a fourth example, as shown in FIG. 12, the display control section 221 displays on the display 222 an annular display section 234 composed of a plurality of divided display sections 234a arranged in the circumferential direction around the arrangement center P. In the fourth example, each split display section 234a is displayed as a virtual wall around the electric mobility. In the example of FIG. 12, the color within the split display section 234a changes corresponding to each detection result.
Also in the fourth example, the brightness or saturation of each divided display section 234a can be changed according to the detection result.

As a fifth example, as shown in FIG. 13, the display control unit 221 may display a graphic 270 indicating a specific target on the display 222. FIG. In the example of FIG. 13, a figure 270 indicates a passerby. In this case, the control unit 81 can identify whether each detection target is a preset specific target based on the detection results of the sensors such as the stereo camera 90 and the LiDAR 100 . For example, the control unit 81 can recognize whether or not each detection target is a passerby based on the motion, shape change, or the like of each detection target. The control unit 81 uses the transmission/reception unit 83 to transmit information as to whether each detection target is a specific target to the display device 200 . The graphic 270 may have other shapes, and the specific object may be a groove, hole, step, or the like.

If the specific object is a groove, hole, or step, the display control unit 221 may display a figure 271 indicating the edge of the groove, hole, or step on the display 222 (FIG. 13). Graphic 271 is different from graphics 241 , 242 , 243 and 244 . The closer the distance to the electric mobility is, the closer the graphic 271 is to the arrangement center P in the annular display portions 231, 232, 233, and 234. , 234 far from the placement center P. In particular, it is preferable that grooves, holes, and steps where the electric mobility may fall are displayed as graphics 271 .

As a sixth example, the display control unit 221 displays a figure 243 and a figure 244 corresponding to each detection result in the annular display part 231, as shown in FIG. A graphic 243 corresponds to a detection target that is an avoidance target, and a graphic 244 corresponds to a detection target that is an avoidance preparation target. The graphics 243 and 244 differ in color, brightness, or saturation, and the graphics 243 and 244 are substantially smaller than the dimension in the width direction W of the annular display portion 231 . However, since the detection result is displayed on the annular display portion 231, the presence of the detection target can be intuitively recognized.

In the first, second, fifth, and sixth examples, a band-shaped figure is displayed at a position corresponding to the detection result in the annular display portions 231 and 232, and the color, brightness, or saturation of the band-shaped figure is changed. You may change gradually according to a detection result.
In addition, in the first to sixth examples, the displays in the annular display portions 231, 232, 233, and 234 may be changed in order to indicate the direction in which the electric mobility is to be moved while avoiding the detection target. For example, the colors of the graphic 241 and the graphic 242 in the annular display portions 231 and 232 can be changed in the direction in which the electric mobility is moved. For example, a darker color can be moved within graphics 241 and 242 in a direction that moves the electric mobility. A darker color than the others can also be moved in the direction in which the electric mobility is moved in the entire circular display portions 231 and 232 . Such an indication also functions as a directional indication.

Also, in the first, second, fifth and sixth examples, the edges of the annular display portions 231 and 232 may change according to the presence of the figures 241, 242, 243 and 244. FIG.
In addition, in the first, second, and fifth examples, each detection result arranged in the range AR1 in which the distance from the electric mobility is equal to or less than the first distance is substantially equal to the dimension in the width direction W of the band-shaped display unit. are displayed by figures 241 and 242 having dimensions corresponding to each other. For example, when the dimension in the width direction W of the figures 241 and 242 is 70% or more, more preferably 80% or more, of the dimension in the width direction W of the band-shaped display portion, the dimension substantially corresponds to that. I can say. Such a display helps the driver intuitively recognize the existence of the detection target.

In the first to sixth examples, the display device 200 receives from the control unit 81 each detection based on at least one of the distance to each detection target, the moving speed of each detection target, and the moving direction of each detection target. Evaluation information for the subject may be received. Then, the display control unit 221 of the display device 200 sequentially changes the display of each detection target according to the received evaluation information. The evaluation information includes information indicating whether each detection target is an avoidance target or an avoidance preparation target. Also, the evaluation information may be an evaluation score of each detection target. For example, the evaluation score increases when the distance to the detection target is short, when the movement of the detection target is fast, and when the movement direction of the detection target is a direction approaching the electric mobility. That is, when a moving person such as a pedestrian or an object is to be detected and the collision risk is determined to be high, the evaluation score is increased.

If each detection result is displayed faithfully in accordance with the evaluation information, the displays on the circular display portions 231, 232, 233, and 234 may continue to change rapidly. In order to alleviate such a situation, the display control unit 221, when the difference between the current evaluation information received for each detection target and the previous evaluation information is equal to or greater than a predetermined level, displays the current evaluation information as Interpolation display, which is a display between the display corresponding to the previous evaluation information, may be performed. For example, if the current evaluation information is an avoidance target and the previous evaluation information is an avoidance preparation target, and if the difference between the avoidance target and the avoidance preparation target is set to be equal to or greater than a predetermined level, The display control unit 221 displays a figure having a size, color, brightness, and saturation between the figures 241 and 242 .

Also, a back view camera may be provided behind the electric mobility. In this case, an image captured by the back-view camera may be displayed on a part of the annular display portions 231, 232, and the like.

Further, in the first to sixth examples, the display control section 221 may perform the following processing based on the peripheral information display program 223b stored in the storage section 223. FIG.
The display control unit 221 displays an annular peripheral information display portion radially outside or radially inside the annular display portions 231 , 232 , 233 and 234 . For example, as shown in FIG. 15, an annular peripheral information display portion 280 is displayed radially outside the annular display portion 231 .

Here, the electric mobility control unit 81 estimates the self-position as described above. Further, the storage device 82 stores map data indicating areas in which the electric mobility can travel. The map data contains store information, facility information, and the like. Facilities also include train stations, bus stops, taxi ranks, and the like.
Control unit 81 transmits store information and facility information accessible from the estimated self-location to display device 200 . The shop information and orientation information includes information such as the direction in which the shop and facilities are arranged with respect to the electric mobility, and the direction to move from the current position of the electric mobility to reach the shop and orientation.

The display control unit 221 displays store information 291 and facility information 292 on the peripheral information display unit 280 according to the received store information and facility information. The store information 291 and the facility information 292 may contain letters or only letters. Store information 291 and facility information 292 may include information such as distances to stores and facilities. The display positions of the store information 291 and the facility information 292 correspond to the direction in which the store and facilities are arranged with respect to the electric mobility, the direction to move from the current position of the electric mobility to reach the store and posture, and so on. .

Note that both or one of the displays in the annular display portions 231, 232, 233, and 234 and in the peripheral information display portion 280 may be displayed when the running speed of the electric mobility is equal to or less than a predetermined value. It may be done regardless.

Further, the annular display portions 231, 232, 233, 234 and the peripheral information display portion 280 are continuous all around, but the annular display portions 231, 232, 233, 234 and the peripheral information display portion 280 are arranged at one place in the circumferential direction. Alternatively, it may be interrupted at several points. For example, as shown in FIG. 16, the annular display portion 231 may be interrupted at one point in the circumferential direction. Even in this case, the ring-shaped display portion 231 is substantially ring-shaped, and the same effect as described above is achieved. Conversely, if the same effect as described above is achieved, it can be said that the annular display portions 231, 232, 233, 234 and the peripheral information display portion 280 are substantially annular.

Also, the control unit 81 sets the route using the map data as described above. The display control unit 221 of the display device 200 receives the set route information and self-position information from the control unit 81, and displays the traveling direction obtained based on the set route and self-position on the peripheral information display unit 280. You may

Note that the electric mobility may be provided with wheels other than the front wheels 10 and the rear wheels 20 . In this case, motor 50 may drive the other wheels. Further, both the front wheel 10 and the rear wheel 20 may be normal wheels like the rear wheel 20 described above instead of being omnidirectional wheels. In this case, the direction of the front wheel 10 or the rear wheel 20 is changed by the operation lever 44a, a handle (not shown), or the like. Caterpillars may be used instead of front wheels 10 and rear wheels 20 . Even in these cases, the above-described effects of the annular display portions 231, 232, 233, 234 and the peripheral information display portion 280 can be achieved.

In this embodiment, annular display portions 231 , 232 , 233 , and 234 arranged in a substantially annular shape are displayed on the display device 200 . In addition, the display control unit 221 of the display device 200 receives the detection result of each detection target detected in the electric mobility, and displays each received detection result in the circular display units 231 , 232 , 233 , and 234 . Therefore, the driver can intuitively grasp the situation of the detection target around the electric mobility, which facilitates manual operation of the electric mobility by the driver.

In addition, in the present embodiment, the detection result transmitted by the control unit 81 to the display device 200 includes at least one of the distance to each detection target, the moving speed of each detection target, and the moving direction of each detection target. The display device 200 changes the display of each detection result according to at least one of the distance, the moving speed, and the moving direction.
Such a display allows the driver to more intuitively grasp the conditions of the detection targets around the electric mobility.

Further, in this embodiment, a diagram 260 showing electric mobility is displayed radially inside the annular display portions 231 , 232 , 233 , and 234 .
By adopting this configuration, it is possible to more intuitively grasp the position of the detection target with respect to the electric mobility. It should be noted that a diagram showing the electric mobility may be drawn with ink or the like instead of being displayed on the inner side of the annular display portions 231, 232, 233, and 234 in the radial direction. Even when a diagram showing electric mobility is provided in this way, the same effect as when the diagram 260 is displayed is achieved.

Further, in the present embodiment, each detection result is at a position at a predetermined distance from the center of the arrangement of the ring-shaped display portions 231 and 232 or at a position at a predetermined distance from the center of the ring-shaped display portions 231 and 232 in the width direction W. It is displayed at a position corresponding to the direction of each detection target viewed from the electric mobility.
By adopting this configuration, any driver can easily grasp the situation of the object to be detected around the electric mobility. For example, it is possible to display each detection target according to the distance from the electric mobility. However, the inclusion of distance information makes it difficult for some drivers to intuitively grasp the situation of the detection target. Therefore, the above configuration is advantageous in that many drivers can easily grasp the detection target.

Note that, as in the sixth example, the annular display portions 231 and 232 are belt-shaped display portions extending in the circumferential direction, and the position at which each detection result is displayed within the belt-shaped display portion varies according to the distance to each detection target. It may change in the width direction W of the band-shaped display portion.
Even in this case, each detection result is displayed in the belt-like display portions of the annular display portions 231 and 232, so that the driver can intuitively grasp the situation of the detection target around the electric mobility.

Further, in the present embodiment, the annular display portions 233 and 234 are composed of a plurality of divided display portions 233a and 234a arranged in the circumferential direction, and each detection result corresponds to one of the plurality of divided display portions 233a and 234a. Or displayed in multiple.
Even in this case, each detection result is displayed in the annular areas of the annular display units 233 and 234, so that the driver can intuitively grasp the situation of the detection target around the electric mobility.

Further, in the present embodiment, the size, area, color, brightness, or saturation of each display of the detection result on the display device 200 is determined by the distance to each detection target, the moving speed of each detection target, and each detection target. depending on at least one of the directions of movement of the .
When this configuration is adopted, the driver can more specifically know the situation of the object to be detected around the electric mobility.

Further, in the present embodiment, the display device 200 sequentially receives the evaluation information of each detection target based on at least one of the distance, the moving speed, and the moving direction from the control unit 81 of the electric mobility, and the received evaluation The display of each detection result is sequentially changed according to the information. Further, when the display of each detection result is sequentially changed, if the difference between the current evaluation information received for each detection target and the previous evaluation information is equal to or greater than a predetermined level, the display corresponding to the current evaluation information and the previous evaluation information Interpolation display, which is a display between the display corresponding to the evaluation information, is performed.

When this configuration is adopted, the display of the detection result on the display device 200 becomes gentle even when the situation of the detection target around the electric mobility changes abruptly. As a result, the effect of facilitating the driver's grasp of the state of the detection target and the effect of calming the driver can be expected.

Further, in the present embodiment, the annular display portions 231 and 232 are band-shaped display portions extending in the circumferential direction, and the display device 200 displays each of the detection results in a band-shaped display when the distance to the detection target is equal to or less than a predetermined value. It is represented by a figure 241 having dimensions substantially corresponding to the width of the part.
This configuration is advantageous for intuitively grasping the situation of the detection target around the electric mobility.

Further, in the present embodiment, the electric mobility can rotate around the vertical axis, and the display device 200 displays the detection results displayed on the annular display portions 231, 232, 233, and 234 in a circular manner when the electric mobility rotates. The parts 231, 232, 233, and 234 are rotated around the arrangement center P by the rotation.
This configuration is advantageous for intuitively grasping the situation of the detection target around the electric mobility when the electric mobility rotates to change the traveling direction.

Further, in the present embodiment, the control unit 81 of the electric mobility can identify a specific target among the detection targets, and the display device 200 can display the specific target and other displays among the display of the detection targets. make different.
For example, in the fifth example, a diagram 270 is added to the display of passers-by A, B, and C, so that the displays of passers-by A, B, and C can be distinguished from others. This configuration contributes to a more specific grasp of the situation of the detection target around the electric mobility.

Further, in the present embodiment, the control unit 81 of the electric mobility can identify a specific target among the detection targets, the control unit 81 transmits the detection result of the specific target to the display device 200, and the display device 200 causes the annular display portions 231, 232, 233, and 234 to display the detection result of the specific target.
For example, in the fifth example, a drawing 270 showing a passerby is added to the annular display portions 231, 232, 233, and 234. FIG. This configuration contributes to a more specific grasp of the situation of the detection target around the electric mobility.

Further, in the present embodiment, the electric mobility has a function of automatically stopping based on the detection result, and when the display device 200 is automatically stopped, the circular display portions 231, 232, 233, and 234 A direction display graphic 250 for avoiding the detection target and moving the electric mobility is displayed in the vicinity of or inside the . This configuration is advantageous for facilitating manual operation for avoiding detection targets.

Further, in the present embodiment, the electric mobility control unit 81 estimates the self-position of the electric mobility, and the display device 200 is positioned radially inside or radially inside the annular display units 231, 232, 233, and 234. A surrounding information display section 280 is arranged on the outer side in a substantially annular shape, and the display device 200 displays information around the self-position based on the estimation result of the self-position and map data around the estimated self-position. At least one of store information 291 and facility information 292 existing in the surrounding information display section 280 is displayed.
With this configuration, the driver can easily recognize the types of shops and facilities that exist in the surroundings and the directions thereof.

Further, in the present embodiment, the control unit 81 of the electric mobility sets the route using map data, and the display device 200 displays the direction of travel according to the set route on the peripheral information display unit 280. display.
With this configuration, the driver can intuitively grasp the direction to go.

Further, as described above, the peripheral information display section 280 is arranged concentrically with the annular display sections 231 , 232 , 233 and 234 . With this configuration, the visibility of the annular display portions 231, 232, 233, 234 and the peripheral information display portion 280 by the driver and the ease of recognizing the information displayed on these display portions are improved.

In this embodiment, the display device 200 may display the peripheral information display section 280 when the store information 291 and the facility information 292 need to be displayed. For example, based on the estimated map data around the self-location, if there is a store or facility that can be reached within a predetermined time from the self-location, or if there is a store or facility within a predetermined distance from the self-location, the display device 200 may display the peripheral information display section 280 . When this configuration is adopted, for the driver, the display of the peripheral information display section 280 is a sign that there are some shops or facilities in the vicinity.

Note that in the present embodiment, the display device 200 receives from the control unit 81 the detection result of the object to be avoided or the object to be prepared for avoidance, which is the object to be detected as an obstacle to the traveling of the electric mobility, and only then the circular display units 231, 232, . 233, 234 may be displayed. When this configuration is adopted, for the driver, the display of the circular display portions 231, 232, 233, and 234 is a sign that there is some detection target in the surroundings.

In addition, in the present embodiment, the display device 200 may be configured to be able to switch display or non-display of each of the annular display portions 231, 232, 233, 234 and the peripheral information display portion 280. FIG. For example, based on an input to the input device 224, the display control unit 221 switches between display and non-display of each of the annular display units 231, 232, 233, 234 and the peripheral information display unit 280. FIG. This configuration makes it possible to easily and effectively change the information displayed on the display device 200 according to the driver's request.

In addition, in this embodiment, a back view camera is provided, and the display device displays images captured by the back view camera on the annular display portions 231 and 232 .
With this configuration, even a driver who cannot see behind the electric mobility can easily and reliably grasp the situation behind the electric mobility.

10 front wheel (wheel)
11 axle 13 roller 14 hub 20 rear wheel (wheel)
30 mobility main body 31 body 32 base portion 33 seat support portion 40 seat unit 43 control arm 43a armrest 44 operation portion 44a operation lever 45 setting portion 50 motor 60 control unit 70 motor driver 80 control device 81 control portion 82 storage device 82a running control program 82b Avoidance control program 82c Automatic driving program 90 Stereo camera (sensor)
91 lens unit 92 camera body 93 image sensor 100 LiDAR
200 display device 210 fixing member 221 display control unit 222 display 223 storage unit 224 input device 225 transmission/reception unit 231, 232, 233, 234 annular display unit DA detection range DAR detection range

Claims (4)

It is an electric mobility that one person sits and rides,
a sensor used to detect one or more detection targets existing around the electric mobility;
a control unit capable of outputting a detection result obtained using the sensor;
a display device;
The display device displays an annular display portion arranged in a substantially annular shape,
The control unit transmits the detection result by the sensor to the display device for display on the display device;
The electric mobility, wherein the display device displays the received detection results in the annular display unit,
The detection result transmitted by the control unit to the display device includes at least one of a distance to each detection target, a moving speed of each detection target, and a moving direction of each detection target,
The display device changes the display of each detection result according to at least one of the distance, the moving speed, and the moving direction,
The display device sequentially receives evaluation information of each detection target based on at least one of the distance, the moving speed, and the moving direction from the control unit, and displays each of the detection results in accordance with the received evaluation information. When the display is sequentially changed, if the difference between the current evaluation information received for each detection target and the previous evaluation information is equal to or greater than a predetermined level, the display corresponding to the current evaluation information and the previous evaluation information are changed. Electric mobility that performs interpolation display that is a display between corresponding displays. It is an electric mobility that one person sits and rides,
a sensor used to detect one or more detection targets existing around the electric mobility;
a control unit capable of outputting a detection result obtained using the sensor;
a display device;
The display device displays an annular display portion arranged in a substantially annular shape,
The control unit transmits the detection result by the sensor to the display device for display on the display device;
The electric mobility, wherein the display device displays the received detection results in the annular display unit,
The display size, area, color, brightness, or saturation of each of the detection results on the display device is the distance to each detection target detected using the sensor, the moving speed of each detection target, and changing according to at least one of the moving directions of the respective detection targets,
The display device sequentially receives evaluation information of each detection target based on at least one of the distance, the moving speed, and the moving direction from the control unit, and displays each of the detection results in accordance with the received evaluation information. When the display is sequentially changed, if the difference between the current evaluation information received for each detection target and the previous evaluation information is equal to or greater than a predetermined level, the display corresponding to the current evaluation information and the previous evaluation information are changed. Electric mobility that performs interpolation display that is a display between corresponding displays. It is an electric mobility that one person sits and rides,
a sensor used to detect one or more detection targets existing around the electric mobility;
a control unit capable of outputting a detection result obtained using the sensor;
a display device;
The display device displays an annular display portion arranged in a substantially annular shape,
The control unit transmits the detection result by the sensor to the display device for display on the display device;
The display device displays each of the received detection results in the annular display,
The electric mobility has a function of automatically stopping based on the detection result obtained using the sensor,
The electric mobility, wherein the display device displays a direction display for moving the electric mobility while avoiding the detection target in the vicinity of or in the annular display section when the automatic stop is performed. It is an electric mobility that one person sits and rides,
a sensor used to detect one or more detection targets existing around the electric mobility;
a control unit capable of outputting a detection result obtained using the sensor;
a display device;
The display device displays an annular display portion arranged in a substantially annular shape,
The control unit transmits the detection result by the sensor to the display device for display on the display device;
The display device displays each of the received detection results in the annular display,
The control unit estimates the self-position of the electric mobility,
The display device displays a peripheral information display section arranged substantially annularly on the radially inner side or the radially outer side of the annular display section,
The display device displays at least one of store information and facility information existing around the self-position based on the estimation result of the self-position and map data around the estimated self-position as the peripheral information. displayed in the department,
Electric mobility, wherein the peripheral information display section is arranged concentrically with the annular display section.

Images